cln_msgs/Machine_state step   #step信息
float32 speed_linear       # 目标线速度
float32 speed_angular       # 目标角速度
uint16 subtasksize 
uint16 cursubtaskindex 
uint16 cur_subtask_sweepmode
uint32 curpathptns
cln_msgs/DynCtrlFollowPath followpath
string workinginfo
